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File: | include/tsid/trajectories/trajectory-base.hpp |
Date: | 2024-08-26 20:29:39 |
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1 | // | ||
2 | // Copyright (c) 2017-2021 CNRS | ||
3 | // | ||
4 | // This file is part of tsid | ||
5 | // tsid is free software: you can redistribute it | ||
6 | // and/or modify it under the terms of the GNU Lesser General Public | ||
7 | // License as published by the Free Software Foundation, either version | ||
8 | // 3 of the License, or (at your option) any later version. | ||
9 | // tsid is distributed in the hope that it will be | ||
10 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
11 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
12 | // General Lesser Public License for more details. You should have | ||
13 | // received a copy of the GNU Lesser General Public License along with | ||
14 | // tsid If not, see | ||
15 | // <http://www.gnu.org/licenses/>. | ||
16 | // | ||
17 | |||
18 | #ifndef __invdyn_trajectory_base_hpp__ | ||
19 | #define __invdyn_trajectory_base_hpp__ | ||
20 | |||
21 | #include "tsid/deprecated.hh" | ||
22 | #include "tsid/macros.hpp" | ||
23 | #include "tsid/math/fwd.hpp" | ||
24 | #include "tsid/math/utils.hpp" | ||
25 | |||
26 | #include <string> | ||
27 | |||
28 | namespace tsid { | ||
29 | namespace trajectories { | ||
30 | |||
31 | typedef Eigen::Map<const Eigen::Matrix<double, 3, 3>> MapMatrix3; | ||
32 | |||
33 | class TrajectorySample { | ||
34 | public: | ||
35 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
36 | |||
37 | // TODO rename pos, vel, acc → value, derivative, second_derivative | ||
38 | TSID_DEPRECATED math::Vector pos, vel, acc; | ||
39 | |||
40 | TSID_DISABLE_WARNING_PUSH | ||
41 | TSID_DISABLE_WARNING_DEPRECATED | ||
42 | // getters / setters with updated names for math::Vector | ||
43 | 9015 | const math::Vector& getValue() const { return pos; } | |
44 | 10009 | const math::Vector& getDerivative() const { return vel; } | |
45 | 9009 | const math::Vector& getSecondDerivative() const { return acc; } | |
46 | 9 | void setValue(const math::Vector& value) { pos = value; } | |
47 | 1 | void setDerivative(const math::Vector& derivative) { vel = derivative; } | |
48 | 1 | void setSecondDerivative(const math::Vector& second_derivative) { | |
49 | 1 | acc = second_derivative; | |
50 | 1 | } | |
51 | |||
52 |
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83 | TrajectorySample(unsigned int size = 0) { resize(size); } |
53 | |||
54 |
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13 | TrajectorySample(unsigned int size_value, unsigned int size_derivative) { |
55 |
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13 | resize(size_value, size_derivative); |
56 | 13 | } | |
57 | |||
58 | 108 | void resize(unsigned int size) { resize(size, size); } | |
59 | |||
60 | 153 | void resize(unsigned int size_value, unsigned int size_derivative) { | |
61 | 153 | pos.setZero(size_value); | |
62 | 153 | vel.setZero(size_derivative); | |
63 | 153 | acc.setZero(size_derivative); | |
64 | 153 | } | |
65 | |||
66 | // declare default constructors / destructors to disable the deprecation | ||
67 | // message for them. TODO: Remove this after the | ||
68 | // pos/vel/acc → value/derivative/second_derivative rename | ||
69 | 12135 | ~TrajectorySample() = default; | |
70 |
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12014 | TrajectorySample(const TrajectorySample&) = default; |
71 | TSID_DISABLE_WARNING_POP | ||
72 | }; | ||
73 | |||
74 | class TrajectoryBase { | ||
75 | public: | ||
76 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
77 | |||
78 | ✗ | TrajectoryBase(const std::string& name) : m_name(name) {} | |
79 | |||
80 | 18 | virtual ~TrajectoryBase() {} | |
81 | |||
82 | virtual unsigned int size() const = 0; | ||
83 | |||
84 | virtual const TrajectorySample& operator()(double time) = 0; | ||
85 | |||
86 | virtual const TrajectorySample& computeNext() = 0; | ||
87 | |||
88 | ✗ | virtual const TrajectorySample& getLastSample() const { return m_sample; } | |
89 | |||
90 | virtual void getLastSample(TrajectorySample& sample) const = 0; | ||
91 | |||
92 | virtual bool has_trajectory_ended() const = 0; | ||
93 | |||
94 | protected: | ||
95 | std::string m_name; | ||
96 | TrajectorySample m_sample; | ||
97 | }; | ||
98 | } // namespace trajectories | ||
99 | } // namespace tsid | ||
100 | |||
101 | #endif // ifndef __invdyn_trajectory_base_hpp__ | ||
102 |